﻿using System;
using System.Collections.Generic;
using System.Text;
using System.Xml;
using System.Xml.Schema;
using System.Xml.Serialization;

namespace Visualization.DataModel
{
	public class Particle
	{
		public double X {get; set;}
		public double Y {get; set;}
		public double Theta {get; set;}
        private double _nError;
        public double Probability { get; set; }
        public bool isOutlier { get; set; }
        public double NormalizationError
        {
            get { return _nError; }
            set {
            this.Weight = Math.Exp(-value);
            _nError = value;
        } }
        public double Weight;
		
		public Particle()
		{
		}
		
		public Particle(double myX, double myY, double myTheta, double myNormalizationError){
			this.X = myX;
			this.Y = myY;
            this.Theta = myTheta;
			this.NormalizationError = myNormalizationError;
		}

	}
}